RecordingHandler.h

Go to the documentation of this file.

 
#ifndef RECORDING_HANDLER_H
#define RECORDING_HANDLER_H
 
#include "../interfaces/BasicCamera.hpp"
#include "../vision/aruco/TagDetector.h"
#include "../vision/cameras/ZEDCam.h"
#include "../vision/objects/ObjectDetector.h"
 
#include <opencv2/opencv.hpp>
#include <vector>
 
 
 
class RecordingHandler : public AutonomyThread<void>
{
    public:
        // Define public enumerators specific to this class.
 
        // Enum used to select which mode the recorder should run in.
        enum class RecordingMode
        {
            eCameraHandler,            // Record video feeds from the CameraHandler.
            eTagDetectionHandler,      // Record video feeds from the TagDetectionHandler.
            eObjectDetectionHandler    // Record video feeds from the ObjectDetectionHandler.
        };
 
        // Declare public class methods and variables.
 
        RecordingHandler(RecordingMode eRecordingMode);
        ~RecordingHandler();
 
        // Mutators.
 
        void SetRecordingFPS(const int nRecordingFPS);
 
        // Accessors.
 
        int GetRecordingFPS() const;
 
    private:
        // Declare private methods.
 
        void ThreadedContinuousCode() override;
        void PooledLinearCode() override;
        void UpdateRecordableCameras();
        void RequestAndWriteCameraFrames();
        void UpdateRecordableTagDetectors();
        void RequestAndWriteTagDetectorFrames();
        void UpdateRecordableObjectDetectors();
        void RequestAndWriteObjectDetectorFrames();
 
        // Declare private class member variables.
 
        int m_nTotalVideoFeeds;
        RecordingMode m_eRecordingMode;
        std::vector<std::shared_ptr<ZEDCamera>> m_vZEDCameras;
        std::vector<std::shared_ptr<BasicCamera>> m_vBasicCameras;
        std::vector<std::shared_ptr<TagDetector>> m_vTagDetectors;
        std::vector<std::shared_ptr<ObjectDetector>> m_vObjectDetectors;
        std::vector<cv::VideoWriter> m_vCameraWriters;
        std::vector<bool> m_vRecordingToggles;
        std::vector<cv::Mat> m_vFrames;
        std::vector<cv::cuda::GpuMat> m_vGPUFrames;
        std::vector<std::future<bool>> m_vFrameFutures;
};
#endif